CN113129388A

CN113129388A - Coding stereo target for quickly calibrating internal and external parameters of camera and coding method thereof

Info

Publication number: CN113129388A
Application number: CN202110489971.7A
Authority: CN
Inventors: 朱华炳; 殷玉龙; 杨昭辉; 杨霈
Original assignee: Hefei University of Technology
Current assignee: Hefei University of Technology
Priority date: 2020-12-23
Filing date: 2021-05-06
Publication date: 2021-07-16
Anticipated expiration: 2041-05-06
Also published as: CN113129388B

Abstract

The invention discloses a coding three-dimensional target for calibrating internal and external parameters of a camera and a coding method thereof, wherein the coding three-dimensional target is mainly applied to calibrating the internal and external parameters of the camera and comprises a reference plane plate, a coding plane target plate and a connecting mechanism, the surface of the reference plane plate is divided into S areas, S is a positive integer and is more than 3, the connecting mechanism is fixedly arranged in each area, the end part of each connecting mechanism is movably connected with the coding plane target plate, the space posture of each coding plane target plate can be movably adjusted, and the coding plane target plate is provided with the coding plane target; all the calibration corner points in each coding plane target are coded, so that the coding of all the calibration corner points of the whole coding three-dimensional target is completed, the high-precision and real-time matching of the calibration corner points with the same name in different calibration images can be realized during the calibration of multiple cameras, and the calibration of the high-precision cameras is realized.

Description

Coding stereo target for quickly calibrating internal and external parameters of camera and coding method thereof

Technical Field

The invention relates to the field of camera calibration in the field of computer vision, in particular to a coding three-dimensional target for quickly calibrating internal and external parameters of a camera and a coding method thereof, which are used for calibrating a monocular camera, calibrating a binocular camera and calibrating a multi-view vision system.

Background

The computer vision technology is used for acquiring three-dimensional information of an object in an actual space by processing and calculating a two-dimensional image, and therefore, the computer vision technology is widely applied to the fields of three-dimensional measurement, visual positioning, target tracking and the like. In computer vision, camera calibration is one of the important problems to be solved firstly, and is also a big hot spot problem and difficult problem in the field of computer vision. The camera calibration is to obtain more accurate internal and external parameters of the camera, and further obtain the relationship between the space three-dimensional coordinates and the image two-dimensional coordinates.

In order to complete the calibration process of the camera, calibration targets are usually needed to help achieve the calibration process. The Zhangyingyou (Z.Y Zhang) provides a camera calibration algorithm based on a plane target in 1999, and the method utilizes the traditional plane checkerboard target, so that the camera calibration process becomes simple and easy to operate, and a good foundation is laid for the development of the subsequent camera calibration technology. Meanwhile, with the continuous development of computer vision technology, many defects are exposed in the conventional planar checkerboard target, for example, in the actual calibration process, the problems of incomplete shooting of target images, missing of direction information of the target images and the like often occur.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, provides a coding three-dimensional target for quickly calibrating the internal and external parameters of a camera and a coding method thereof, realizes the calibration process of a monocular or monocular vision single image on the premise of keeping higher precision, and improves the operability and efficiency of the calibration process.

In order to realize the effect, the invention adopts the technical scheme that: the coding three-dimensional target comprises a reference plane plate, a coding plane target plate and a connecting mechanism, wherein the surface of the reference plane plate is divided into S areas, S is a positive integer and is greater than 3, the connecting mechanism is fixedly arranged in each area, the end part of each connecting mechanism is movably connected with the coding plane target plate, the space posture of each coding plane target plate can be movably adjusted, and the coding plane target is arranged on the coding plane target plate.

Further, the reference plane plate of the coded stereo target is a cuboid thin plate structure with the length of a, the width of b and the thickness of c; the numbers of each region of the reference surface, the connecting mechanism in the corresponding region, the coding plane target plate on the corresponding connecting mechanism and the coding plane target on the corresponding coding plane target plate are respectively marked as

Wherein

In the reference plane plate, a rectangular surface with the length a and the width b is selected as a reference plane, and the division method for dividing the reference plane into S areas is as follows:

step a, arbitrarily taking one vertex of the reference surface as an origin o of the reference coordinate system, and taking one side which is intersected to form the origin o and has the length of a in the reference surface as an x-axis determination side N of the reference coordinate system₁Determining the edge N on the x-axis of the reference coordinate system₁Another vertex of the upper reference surface which is not coincident with the origin o is taken as a reference coordinate system x-axis determination edge N₁Upper first point o₁Recording the vector

Determining vectors for the x-axis of a reference coordinate system

One side with the length b and intersecting to form an origin o in the reference plane is taken as a y-axis determination side N of the reference coordinate system₂Determining the edge N on the y-axis of the reference coordinate system₂Another vertex of the upper reference surface which is not coincident with the origin o is taken as a y-axis determined edge N of the reference coordinate system₂Upper first point o₂Recording the vector

Determining vectors for the y-axis of a reference coordinate system

Wherein, the x-axis of the reference coordinate system determines the edge N₁Determining edge N with reference coordinate system y-axis₂Are 2 mutually different edges; determining vector by x-axis of reference coordinate system

The direction of the vector is taken as the positive direction of the x axis of the reference coordinate system, and the vector is determined by the y axis of the reference coordinate system

The direction of the reference coordinate system is used as the forward direction of the y axis of the reference coordinate system, and a reference coordinate system o-xyz is established by adopting a right-hand rule;

step b, in the reference plane, according to the reference coordinate system o-xyz, using S_a-1 longitudinal region division line parallel to the y-axis and S_b-1 transverse region dividing line parallel to the x-axis dividing the reference plane into S regions; wherein S is_a、S_bAre all positive integers, S_a∈[1，S]，S_b∈[1，S]And S is_aThe maximum number of rows of the regions that can be divided among the S regions divided in the reference plane, i.e., the maximum value of the total number of row numbers of the S regions in the reference plane, is also represented by S_bIf the maximum number of lines of the regions that can be divided among the S regions divided in the reference plane, i.e., the maximum value of the total number of line numbers of the S regions in the reference plane, is S_a·S_bS, the reference plane may then be divided into S regions;

step c, in the reference plane, recording a region containing a reference coordinate system o-xyz origin o as a row 1 and column 1 region, and recording the row 1 and column 1 region as a No. 1 region; taking the region No. 1 as a starting region, and sequentially searching S along the x axis of a reference coordinate system in the forward direction _a1 area, taking area No. 1 as a starting area, and S which is searched in sequence along the y axis of the reference coordinate system in the forward direction _b1 area, then in S areas, the area of the alpha row and beta column is recorded as

Number region, where β denotes a region column number, α denotes a region row number,

when the region number is represented, α, β,

Are all positive integers, and β ═ 1,2,3_a，α＝1,2,3,...,S_b，

The relation between alpha and beta satisfies:

wherein

Thereby completing the division of the S regions of the reference plane.

Furthermore, the coding plane target is composed of coding checkerboards formed by alternating parallelogram coding units and parallelogram non-coding units, all the parallelogram coding units and the parallelogram non-coding units in the coding plane target are parallelograms with the length of d and the width of e, and d and e are both larger than zero; the coding plane target takes the intersection point of any diagonal connected parallelogram coding units as a calibration angular point of the coding plane target, the coding plane target comprises M rows multiplied by N columns of calibration angular points in total, wherein M and N are positive integers;

the interior of each parallelogram coding unit in the coding plane target is provided with a coding pattern, the coding pattern comprises a positioning pattern, an orientation pattern and a coding mark pattern, the coding mark pattern is composed of a plurality of coding unit patterns, and the positioning pattern, the orientation pattern and the coding unit patterns in each parallelogram coding unit are not overlapped and not communicated; the orientation pattern and the positioning pattern are used for judging the rotation direction of the coded plane target; the coding mark pattern is used for coding each calibration corner point in the coding plane target.

One parallelogram coding unit in any coding plane target is taken and recorded as a coding plane target vector to determine a coding unit gamma_vArbitrarily taking a coding plane target vector to determine a coding unit gamma_vOne vertex of the vector determination coding unit is marked as a first vertex o ″ of the vector determination coding unit₁Determining a coding unit gamma in the coding plane target vector_vWherein the intersections form a vector defining a first vertex o ″' of the coding unit₁Any one edge of the first edge is marked as a vector to determine first edge Ν of the coding unit_v1Determining the first edge Ν of the coding unit in the vector_v1Upward orientation amount determination encoding unit Γ_vThe vertex of (a) is marked as the first point o' on the first side of the vector-determined coding unit₂Wherein the first point o ″)₂And the first vertex o ″)₁Are 2 points which are not coincident with each other, and the vector is recorded

To specify a vector

And the positioning pattern and the orientation pattern in each parallelogram coding unit have the following positional relationship: the direction and the prescribed vector pointing from the center of mass of the orientation pattern to the center of mass of the orientation pattern in the same parallelogram coding unit

Are in the same direction;

marking the plane where the coding plane target is as a target plane P_tDetermining the first vertex o' of the coding unit by the vector₁Making a prescribed vector for the starting point

The unit vector in the same direction is denoted as the 1 st predetermined unit vector

Determining a first vertex o' of the coding unit by a vector according to the front view coding plane target direction₁As a center of rotation, in a target plane P_tDefining the 1 st unit vector

Counterclockwise rotation by an angle beta '(0 DEG < beta' < 90 DEG) to obtain a 2 nd prescribed unit vector

Determining the first vertex o' of the coding unit in space as a vector₁As a starting point, an

The unit vectors with the same direction are recorded as positive vectors

Determining a coding unit gamma by using a coding plane target vector_vUpper distance coding plane target vector determination coding unit gamma_vThe two nearest vertexes of the orientation pattern in (1) are respectively marked as the 1 st temporary vertex o ″₃And the 2 nd temporary vertex o ″₄(ii) a If vector

Cross-product specified vector

Direction of the resulting vector and the forward vector

Are in the same direction, they will be recorded as vectors

Auxiliary vector

If vector

Cross-product specified vector

Direction of the resulting vector and the forward vector

Are in the same direction, then vector will be generated

Is recorded as an auxiliary vector

The positional relationship of the positioning pattern and the orientation pattern in each parallelogram coding unit within the coding plane target is as follows: the positioning pattern and the orientation pattern of the same parallelogram coding unit are both arranged inside the parallelogram coding unit, and the mass center of the positioning pattern and the mass center of the orientation pattern in the same parallelogram coding unit are both near the mass center of the parallelogram coding unit; and the direction and the prescribed vector pointing to the centroid of the positioning pattern from the centroid of the positioning pattern

In the same direction.

The sizes of a plurality of coding unit patterns in the same parallelogram coding unit can be totally or partially the same or different; in the same parallelogram coding unit, the contour length of each coding unit pattern is smaller than that of the positioning pattern, and the contour length of the positioning pattern is smaller than 2d +2 e.

The background colors of all parallelogram coding units in the coding plane target are the same and are marked as color 1; the colors of all parallelogram non-coding units in the coding plane target are the same and are marked as color 2; the background color (i.e., color 1) of all parallelogram-encoded cells is significantly different from the color (i.e., color 2) of all parallelogram-non-encoded cells. The colors of all positioning patterns and all orientation patterns contained in all parallelogram coding units in the coding plane target are the same and are marked as color 3, and the color 3 is obviously different from the color 1; the color of all the coding unit patterns contained within all the parallelogram coding units in the coding plane target is the same as color 1 or the same as color 3.

In the same parallelogram coding unit, the position and the color of a coding unit pattern are determined by a non-unique coding method of each calibration corner point in a coding plane target.

The positioning pattern inside each parallelogram coding unit in the coding plane target is a solid circle, the orientation pattern is a circular ring, and the coding unit patterns are all solid circles; the same parallelogram coding unit contains 2 connected domains with the color of 1, and the area of the connected domain with the color of 1 closest to the centroid of the directional pattern is smaller than that of the connected domain with the other color of 1;

in the coding plane target, the area sizes of the positioning patterns contained in different parallelogram coding units can be the same or different; the area sizes of the orientation patterns contained in different parallelogram coding units can be the same or different; the coding unit patterns contained in different parallelogram coding units can have the same area size or different area sizes.

Further, the coding numbers of the parallelogram coding units in all the coding plane targets are different from each other, and the coding numbers of all the parallelogram coding units in each coding plane target are consecutive integers.

Then

Within the number area

The coding serial number of the parallelogram coding unit in the number coding plane target and the coding number of the calibration angular point have continuity, namely: note the book

The number of the parallelogram coding units of the number coding plane target is

The first parallelogram coding unit has the coding sequence number of

Then

Number (C)

The coding range of the parallelogram coding unit in the coding plane target is

Note the book

The number of the calibration angular points of the number coding plane target is

The first calibrated corner point has a code number of

Then

The coding number range of the calibration angular point in the number coding plane target is

Further, the total number of the coding numbers of the parallelogram coding units of the coding plane target is 4096. When the serial numbers are used, the coding sequence number range is [0,4095], and then the coding sequence number of any parallelogram coding unit in all S coding plane targets is in the range, i.e. the coding number of the parallelogram coding unit with the largest coding number in the coding stereo target should be less than 4096.

The coding method based on the coding three-dimensional target is also provided, and the coding method comprises the steps of coding all the calibration angle points in each coding plane target, finding the unique coding number of each calibration angle point in the coding three-dimensional target, the coding number of the coding plane target where each calibration angle point in the coding three-dimensional target is located, and the coding number of the reference plane board area where each calibration angle point in the coding three-dimensional target is located, so that the coding of all the calibration angle points of the whole coding three-dimensional target is completed.

Further, the method for encoding each calibration corner point in the encoding stereo target comprises the following steps:

step 1, taking variable r to represent the number of encoding plane targets which do not complete encoding and the number of regions which do not complete encoding, setting an initial value r to be S, and setting an initial encoding number z of a parallelogram encoding unit in an encoding stereo target_S，z_SIs a positive integer;

step 2, setting the number ranges of the coding stereo target region and the coding plane target as continuous positive integers of 1,2,3_r＝[1,2,3,...,S]R also represents the number of the numbers in the number set;

step 3, in r areas with incomplete coding, selecting an area in the space coding three-dimensional target according to any rule or at random, and simultaneously coding the number set psi of the coding plane target which is not coded in the coding three-dimensional target_r＝[1,2,3,...,S]In the method, a number is selected according to any rule or at random and is marked as I_rAs selected corresponding regionThe number of the domain; the row number and column number of the selected area are calculated by:

I_r÷S_a＝α′...β′

wherein: s_a、S_bAre all positive integers, S_a∈[1，S]，S_b∈[1，S]And satisfy S_a·S_b＝S，S_aIs the maximum number of columns of the regions which can be divided among the S regions divided in the reference plane, S_bThe maximum number of columns of the regions which can be divided in the S regions divided in the reference plane;

α' is I_rAnd S_aBy dividing to give an integer value, beta' is I_rAnd S_aDividing the obtained remainder value;

if β' is 0, the number selected is I_rIs the alpha' th line S_aThe area where the column is located;

if β' ≠ 0, then the selected number is I_rThe area of (a '+ 1) th row and column beta';

at the same time will I_rCoding plane target in number region is marked as I_rNumber coded planar target, note I_rThe total number of the coding serial numbers of the parallelogram coding units in the number coding plane target is L_r+1, note I_rI in number area_rNumber M of calibration angular points contained in number coding plane targets_r×N_rA plurality of;

step 4, for I_rI in number area_rInitial code number z of number coded planar target_rCarrying out reassignment;

if r is S, then I_rI in number area_rInitial code number z of number coded planar target_r＝z_S；

If r is not equal to S, then I_rI in number area_rInitial code number z of number coded planar target_r＝z_r+1+L_r+1+Δ_r；

Wherein: delta_rIs a positive integer, and Δ_rNot less than 1, represents I_rNumber coded planar target and I_r+1Number coding plane targetThe code number interval of (2);

step 5, using the coding method of the coding plane target to carry out I_rI in number area_rAll the calibration angular points of the number coding plane target are coded to obtain I_rThe unique coding number of each calibration angular point in the number coding plane target;

the encoding method of the encoding plane target comprises the following steps:

step 5.1, get integer z_vAs an initial coding number in a coding plane target, where z_vSatisfies the formula (1),

z_v≤4096-ε (1)

wherein: ε is the total number of parallelogram-encoded units, and ε can be obtained by equation (2) or (3):

if M, N are both odd, or M, N is an odd-even:

ε＝[(M-1)(N-1)]/2+M+N； (2)

if M, N are both even numbers:

ε＝[(M-1)(N-1)+1]/2+M+N； (3)

step 5.2.1, recording one parallelogram coding unit in the arbitrarily-selected coding plane target as pi₁Any one of the coding units II is connected with a parallelogram coding unit₁Parallelogram coding units with common vertices denoted pi₂；

Step 5.2.2, on the coding plane target, II from the parallelogram coding unit₁Starting and following a prescribed vector

Searching for a parallelogram coding unit in the opposite direction includes the following two cases:

(1) if on the encoding plane target, II is encoded from the parallelogram encoding unit₁Starting and following a prescribed vector

No parallelogram coding unit can be searched in the opposite direction,II, the parallelogram coding unit₁As a longitudinal end parallelogram coding unit 1, is noted

(2) If on the encoding plane target, II is encoded from the parallelogram encoding unit₁Starting and following a prescribed vector

If the parallelogram coding unit can be searched in the opposite direction, the specified vector will be followed

Parallelogram coding unit pi for searching distance in opposite direction₁The farthest parallelogram coding unit is taken as the longitudinal end parallelogram coding unit 1 and is recorded as

Step 5.2.3, on the coding plane target, II from the parallelogram coding unit₂Starting and following a prescribed vector

The opposite direction searches for the parallelogram coding unit, including the following two cases:

(1) if from parallelogram coding unit Π₂Starting and following a predetermined vector

If the parallelogram coding unit can not be searched in the opposite direction, the parallelogram coding unit II is selected₂As longitudinal end parallelogram coding units 2, note

(2) If from parallelogram coding unit Π₂Starting and following a predetermined vector

If the parallelogram coding unit can be searched in the opposite direction, the specified vector will be found

Parallelogram coding unit pi for searching distance in opposite direction₂The farthest parallelogram coding unit is taken as the longitudinal end parallelogram coding unit 2 and is recorded as

Step 5.2.4, on the coding plane target, from the longitudinal end parallelogram coding unit

Starting and following the auxiliary vector

(1) if the parallelogram coding unit is coded from the longitudinal end

Starting and in conjunction with the auxiliary vector

If no parallelogram coding unit can be searched in the opposite direction, the longitudinal end parallelogram coding unit is selected

As the transverse end parallelogram coding unit 1, is denoted by Γ₁；

(2) If the parallelogram coding unit is coded from the longitudinal end

Is started, andin and auxiliary vector

If the parallelogram coding unit can be searched in the opposite direction, the auxiliary vector will be searched

Search in opposite directions for distance-longitudinal end parallelogram coding units

The farthest parallelogram coding unit is taken as the transverse end parallelogram coding unit 1 and is marked as gamma₁；

Step 5.2.5, on the coding plane target, from the longitudinal end parallelogram coding unit

Starting and following the auxiliary vector

(1) if the parallelogram coding unit is coded from the longitudinal end

Starting and in conjunction with the auxiliary vector

As the transverse end parallelogram encoding unit 2, is denoted by Γ₂；

(2) If the parallelogram coding unit is coded from the longitudinal end

Starting and in conjunction with the auxiliary vector

The farthest parallelogram coding unit is taken as the transverse end parallelogram coding unit 2 and is marked as gamma₂；

Step 5.2.6, recording parallelogram coding unit gamma₁Therein has a diameter of₁Each vertex is a calibration angular point, and the parallelogram coding unit gamma is₂Therein has a diameter of₂Each vertex is a calibration angular point; according to phi₁And phi₂The numerical value of (2) includes the following 3 cases:

case 1, if Φ ₁1 and phi ₂4, the transverse end parallelogram coding unit 1 Γ₁Has a code number of z_vWhile noting the transverse end parallelogram coding unit 1 gamma₁For line 1, parallelogram coding unit

Encoding a transverse end parallelogram encoding unit 2 gamma₂Line 2, line 1 parallelogram coding unit

Case 2 if Φ ₁4 and phi ₂1, the transverse end parallelogram coding unit 2 Γ₂Has a code number of z_vWhile noting the transverse end parallelogram coding unit 2 gamma₂For line 1, parallelogram coding unit

Encoding a transverse end parallelogram encoding unit 1 gamma₁Line 2, line 1 parallelogram coding unit

Case 3, if Φ ₁2 and phi ₂2, the horizontal end parallelogram coding unit 1 Γ is referred to₁Is respectively epsilon'₁And ε₁Note the horizontal end parallelogram coding unit 2 gamma₂Is respectively epsilon'₂And ε₂The following two cases are included:

(1) when in use

And

are parallel and

and

in parallel, the horizontal end parallelogram coding unit 1 gamma is recorded₁Is coded by the number z_vWhile noting the transverse end parallelogram coding unit 1 gamma₁For line 1, parallelogram coding unit

Note the horizontal end parallelogram coding unit 2 gamma₂For line 2, line 1 parallelogram coding unit

(2) When in use

And

are parallel and

and

in parallel, the horizontal end parallelogram coding unit 2 gamma is recorded₂Is coded by the number z_vWhile noting the transverse end parallelogram coding unit 2 gamma₂For line 1, parallelogram coding unit

Note that the horizontal end parallelogram coding unit 1 gamma₁For line 2, line 1 parallelogram coding unit

Step 5.2.7, taking an integer variable delta and giving an initial value delta of 0;

step 5.2.8, on the coding plane target, from the 2 delta +1 st line 1 st parallelogram coding unit

Starting and following a prescribed vector

The parallelogram-shaped coding unit is searched in the direction of (1), and the result comprises the following two cases:

case 1, the 1 st parallelogram coding unit from the 2 δ +1 st line

Starting and along a defined vector

If the parallelogram coding unit can be searched in the direction, the 1 st parallelogram from the 2 delta +1 st line will be searchedCoding unit

Starting and along a defined vector

1 st parallelogram coding unit searched in direction and spaced from 2 delta +1 line

The nearest parallelogram coding unit is marked as the 1 st parallelogram coding unit of the 2 delta +3 th line

Then reassign δ +1 to δ and re-execute step 5.2.8;

case 2, the 1 st parallelogram coding unit from the 2 δ +1 st line

Starting and following a defined vector

If no parallelogram coding unit can be searched in the direction of (2), taking an integer variable m ', assigning m' to 2 δ +1, and then executing step 5.2.9;

step 5.2.9, assigning the integer variable δ again, wherein δ is 1;

step 5.2.10, on the coding plane target, from the 2 delta line 1 th parallelogram coding unit

Starting and following a prescribed vector

The parallelogram coding unit is searched in the direction of (1), and the search result comprises the following two cases:

case 1, parallelogram coding unit 1 from 2 δ -th line

Starting and following a prescribed vector

Can search for the parallelogram coding unit, the 1 st parallelogram coding unit from the 2 delta line

Starting and following a prescribed vector

2 δ row 1 parallelogram-numbered coding unit of the distance searched in the direction of (1)

The nearest parallelogram coding unit is marked as the 1 st parallelogram coding unit of the 2 delta +2 th line

Then reassign δ +1 to δ and re-execute step 5.2.10;

case 2, parallelogram coding unit from 2 δ -th line 1

Starting and following a prescribed vector

If no parallelogram coding unit can be searched in the direction of (2), taking an integer variable m ', assigning m' to 2 Delta, and then executing step 5.2.11;

step 5.2.11, assigning the integer variable δ again, wherein δ is 1; taking an integer variable rho, and assigning rho to 1;

5.2.12, encoding the rho-th parallelogram coding unit from the delta-th line on the encoding plane target

Starting and following the auxiliary vector

case 1, where the unit is encoded from the # th parallelogram of the δ -th line

Starting and following the auxiliary vector

Can search for the parallelogram coding unit, the rho-th parallelogram coding unit from the delta-th line

Starting and following the auxiliary vector

The parallelogram coding unit which is searched in the direction of (a) and is closest to the rho th parallelogram coding unit in the delta th row is marked as the rho +1 th parallelogram coding unit in the delta th row

Then assigning rho +1 to rho, and re-executing the step 5.2.12;

case 2, where the unit is encoded from the # th parallelogram of the δ -th line

Starting and following the auxiliary vector

If the parallelogram coding unit can not be searched in the direction of (3), the integer variable f is taken_δAnd assign f_δρ, then step 5.2.13 is performed;

step 5.2.13, this step includes the following cases:

case 1, if m 'is more than m ", judging whether delta is less than m'; when δ is less than m', δ +1 is assigned to δ, ρ is reassigned to ρ being 1, and then step 5.2.12 is executed again; otherwise, go to step 5.2.14;

case 2, if m ' < m ', determining whether delta < m ' is satisfied; when δ is less than m ", δ +1 is assigned to δ, ρ is reassigned to ρ being 1, and then step 5.2.12 is executed again; otherwise, go to step 5.2.14;

step 5.2.14, recording

Representing the rho parallelogram coding unit of the delta row

A corresponding code number;

step 5.2.15, assigning the value delta to the integer variable delta to be 1 again; taking an integer variable z', and adding an initial code number value z_vAssigning a value to z'; re-assigning rho to the integer variable rho to be 0;

step 5.2.16, assign z' + ρ to

Then assigning rho +1 to rho; when rho < f_δThen step 5.2.16 is re-executed; otherwise, go to step 5.2.17;

step 5.2.17, this step includes the following two cases:

case 1, if m ' < m ', when delta < m ', the

Assigning z', δ +1 to δ, reassigning ρ to 0, and then returning to the step 5.2.16; otherwise, executing step 5.3.1;

case 2, if m '> m', when delta < m

Assigning z', δ +1 to δ, reassigning ρ to 0, and returning to the executing stepStep 5.2.16; otherwise, executing step 5.3.1;

step 5.3.1, establishing a target coordinate system, and recording the number phi of the calibration corner points in 4 vertexes of the 1 st parallelogram coding unit in the 1 st line_pThen can be according to phi_pThe magnitude of the numerical value includes the following two cases:

case 1 when phi_pWhen 1, the 1 st parallelogram coding unit in the 1 st line is denoted

In as the origin calibration corner point alpha'₁At the moment, an origin is selected to mark the angular point alpha'₁Origin O as target coordinate system_tTo assist the vector

As a target coordinate system X_tThe direction of the axis;

case 2 when phi_pWhen 2, the 1 st parallelogram coding unit in the 1 st row is respectively marked

Is epsilon 'as two calibration corner points'₃And ε₃According to the calibrated corner point epsilon'₃And ε₃The positional relationship of (c) may in turn include the following:

(1) when vector

Direction and auxiliary vector of

Is the same, the calibration corner point epsilon 'is selected at the moment'₃Origin O as target coordinate system_tTo assist the vector

Is taken as X of a target coordinate system_tThe direction of the axis;

(2) when vector

Direction and auxiliary vector of

When the directions of the two points are different, the calibration corner point epsilon' is selected at the moment₃Origin O as target coordinate system_tTo assist the vector

Is taken as X of a target coordinate system_tThe direction of the axis;

step 5.3.2 with forward vector

As Z of the target coordinate system_tDirection of axis, Y of target coordinate system_tAxis, X_tAxis and Z_tThe axis meets the right-hand criterion, so as to establish a target coordinate system O_t-X_tY_tZ_t；

Step 5.4, taking an integer variable e and giving an initial value of e ═ z_v；

Step 5.5, respectively recording the target coordinates of the centers of mass of the positioning circles as o in the parallelogram coding units corresponding to the coding numbers e_l,e(x_l,e,y_l,e0), target coordinate of center of mass of the directional ring is o_d,e(x_d,e,y_d,e0), the vector pointing from the center of mass of the orientation ring to the center of mass of the orientation ring is the direction vector in the parallelogram coding unit

Locate the distance to the centroid o_l,eThe two nearest vertexes are respectively marked as C_e,1min(x_e,1min,y_e,1min0) and C_e,2min(x_e,2min,y_e,2min0), from vertex C)_e,1min(x_e,1min,y_e,1min0) and vertex C_e,2min(x_e,2min,y_e,2min0) the vector formed is recorded as the vertex vector in the parallelogram coding unit

Direction vector

Can be calculated by equation (6) to obtain the vertex vector

Can be calculated from equation (7):

recording the centroid o of the positioning circle in the parallelogram coding unit corresponding to the code number e_l,eAnd parallel to the vertex vector

Is a straight line of_1,eOver-orientation of the center of mass o of the ring_d,eAnd parallel to the vertex vector

Is a straight line of_2,ePassing through the location of the centroid o_l,eAnd the center of mass o of the directional ring_d,eIs a straight line of_3,e(ii) a Using a straight line l_3,eLine l_1,eAnd a straight line l_2,eThe parallelogram coding unit with the coding number e can be divided into 6 coding regions, and each coding region comprises 2 coding unit patterns;

and 5.6, in the parallelogram coding unit with the coding number e, respectively calculating a first judgment vector in the parallelogram coding unit according to the formula (8) and the formula (9)

And a second decision vector

Then, the first vector of the division of the region in the parallelogram coding unit with the code number e can be calculated by the formula (10) and the formula (11) respectively

And area division second vector

The following judgment is made:

if it is

And is

Then vertex C will be pointed out_e,1min(x_e,1min,y_e,1min0) is recorded as the 1 st coding region positioning vertex in the parallelogram coding unit

And the parallelogram coding unit comprises the 1 st coding region positioning vertex

The coding region of (1) is marked as the 1 st coding region in the parallelogram coding unit; at the same time, the vertex C_e,2min(x_e,2min,y_e,2min0) is recorded as the 6 th coding region positioning vertex in the parallelogram coding unit

And will include the 6 th encoding region positioning vertex

The coding region of (2) is marked as the 6 th coding region in the parallelogram coding unit;

if it is

And is

Then vertex C will be pointed out_e,1min(x_e,1min,y_e,1min0) is recorded as the 6 th coding region positioning vertex in the parallelogram coding unit

And will include the 6 th encoding region positioning vertex

The coding region of (2) is marked as the 6 th coding region in the parallelogram coding unit; at the same time, the vertex C_e,2min(x_e,2min,y_e,2min0) is recorded as the 1 st coding region positioning vertex in the parallelogram coding unit

And will include the 1 st coding region to locate the vertex

Is marked as the parallelogramA 1 st coding region in the coding unit;

and 5.7, in the parallelogram coding unit with the coding number e, taking the 1 st coding region of the parallelogram coding unit as a starting region and the 6 th coding region as an end region, and clockwise (along the target coordinate system Z)_tThe opposite direction of the positive direction of the shaft), and sequentially marking the 6 coding regions in the parallelogram coding unit as the 1 st coding region, the 2 nd coding region, the 3 rd coding region, the 4 th coding region, the 5 th coding region and the 6 th coding region of the parallelogram coding unit;

step 5.8, in the parallelogram coding unit corresponding to the coding number e, from the centroid of the ith coding unit pattern (i ═ 1,2) in the σ -th coding region (σ ═ 1,2,5,6) to the straight line l_1,eIs recorded as

Encoding the centroid of the ith (i-1, 2) coding unit pattern in the pi-th coding region (pi-3, 4) to a straight line l_2,eIs recorded as

Encoding the centroid of the ith (i ═ 1,2) coding unit pattern in the theta-th coding region (theta ═ 1,2,3,4,5,6) to a straight line l_3,eIs recorded as

Step 5.9, in the parallelogram coding unit with the coding number e, the centroid of the ith coding unit pattern in the sigma coding region is positioned to the straight line l_1,eIs a distance of

And centroid to straight line l of ith coding unit pattern in σ -encoding region_3,eIs a distance of

Formula (12) or formula (13) is satisfied, where σ ═ 1,2,5,6, and i ═ 1, 2;

and is

And is

In the parallelogram coding unit corresponding to the coding number e, the centroid of the ith coding unit pattern in the pi coding region is aligned to the straight line l_2,eIs a distance of

And a centroid to straight line l of the ith coding unit pattern in the pi-th coding region_3,eIs a distance of

Satisfies formula (14) or formula (15), wherein pi ═ 3,4 and i ═ 1, 2;

and is

And is

Step 5.10, the step includes the following two conditions:

case 1, in the parallelogram coding unit corresponding to code number e, if

And is

Then the 1 st coding unit pattern in the sigma coding region in the parallelogram coding unit is recorded as the 1 st coding unit pattern in the sigma coding region in the parallelogram coding unit

The 2 nd coding unit pattern in the sigma coding region in the parallelogram coding unit is taken as the 2 nd coding unit pattern in the sigma coding region in the parallelogram coding unit

Wherein σ is 1,2,5, 6;

case 2, in the parallelogram coding unit corresponding to coding number e, if

And is

Then the 2 nd coding unit pattern in the sigma coding region in the parallelogram coding unit is recorded as the 1 st coding unit pattern in the sigma coding region in the parallelogram coding unit

Let the 1 st coding unit pattern in the sigma coding region in the parallelogram coding unit be the 2 nd coding unit pattern in the sigma coding region in the parallelogram coding unit

Wherein σ is 1,2,5, 6;

step 5.11, the step comprises the following two conditions:

case 1, within a parallelogram coding unit corresponding to code number eIf, if

And is

Then the 1 st coding unit pattern in the pi-th coding region in the parallelogram coding unit is recorded as the 1 st coding unit pattern in the pi-th coding region in the parallelogram coding unit

Recording the 2 nd coding unit pattern in the pi-th coding region in the parallelogram coding unit as the 2 nd coding unit pattern in the pi-th coding region in the parallelogram coding unit

Wherein pi is 3, 4;

case 2, in the parallelogram coding unit corresponding to coding number e, if

And is

Then the 2 nd coding unit pattern in the pi-th coding region in the parallelogram coding unit is recorded as the 1 st coding unit pattern in the pi-th coding region in the parallelogram coding unit

Recording the 1 st coding unit pattern in the pi-th coding region in the parallelogram coding unit as the 2 nd coding unit pattern in the pi-th coding region in the parallelogram coding unit

Wherein pi is 3, 4;

step 5.12, in the parallelogram coding unit with the coding number e, the j-th coding unit pattern in the theta-th coding area is coded

The corresponding code value is noted

Wherein j is 1,2 and θ is 1,2,3,4,5,6, and

can only take the value of 0 or 1;

step 5.13, the 12-bit binary number corresponding to the code number e is w_eAnd specify

Respectively corresponding to binary numbers w in sequence from the lowest order to the highest order_eAnd must satisfy formula (16),

G^T·F_e＝＝e (16)

wherein, the column vector G is (2)⁰,2¹,2²,2³,2⁴,2⁵,2⁶,2⁷,2⁸,2⁹,2¹⁰,2¹¹)^TAnd is and

column vector

Step 5.14, according to the determined coding number e, the j-th bit coding unit pattern of the theta-th coding area in the parallelogram coding unit

Corresponding code value

Where j is 1,2 and θ is 1,2,3,4,5,6, the present step includes the following two cases:

case 1 if

Let the code number be e correspond to the jth code unit pattern of the theta code area in the parallelogram code unit

Is color 1, where j is 1,2 and θ is 1,2,3,4,5, 6;

case 2 if

Let the code number e correspond to the code unit pattern of the jth code unit in the theta code area in the parallelogram code unit

Is color 3, where j is 1,2 and θ is 1,2,3,4,5, 6;

step 5.15, recording the number of calibration angular points on the parallelogram coding unit with the coding number of e as g_eAccording to the number g of calibration angular points on the parallelogram coding unit with the code number e_eThe following 3 cases are included:

case 1 if g _e1, will be located in a parallelogram coding unit with code number e

The nominal corner points on the coding region are marked as the first corner points in the parallelogram coding unit

Calibration corner point of coding region

Wherein

The value of (1) is a certain numerical value of 1, 3,4 and 6;

case 2 ifg_eThe following 4 cases are included:

(1) 2 calibration angle points on a parallelogram coding unit with the code number e are respectively positioned on the No. 1 coding area and the No. 6 coding area in the parallelogram coding unit, and then the calibration angle points are positioned on the No. 1 coding area and the No. 6 coding area in the parallelogram coding unit

Calibration corner point of coding region

Wherein

(2) 2 calibration angle points on a parallelogram coding unit with the code number e are respectively positioned on the No. 3 coding area and the No. 4 coding area in the parallelogram coding unit

Calibration corner point of coding region

Wherein

(3) 2 calibration angle points on a parallelogram coding unit with the code number e are respectively positioned on a 4 th coding region and a 6 th coding region in the parallelogram coding unit, and then the calibration angle points are positioned on the 4 th coding region and the 6 th coding region in the parallelogram coding unit

Calibration corner point of coding region

Wherein

(4) 2 calibration angle points on a parallelogram coding unit with the code number e are respectively positioned on the No. 1 coding area and the No. 3 coding area in the parallelogram coding unit, and then the calibration angle points are positioned on the No. 1 coding area and the No. 3 coding area in the parallelogram coding unit

Calibration corner point of coding region

Wherein

Case 3 if g _e4, will be located in the parallelogram coding unit with code number e

Calibration corner point of coding region

Wherein

Step 5.16, assigning e +1 to e again, and judging as follows:

if e < z_v+ epsilon, then return to step 5.5 and start execution; if e is more than or equal to z_v+ ε, then end;

each calibration angular point on the coding plane target obtains 2 coding serial numbers (namely, non-unique coding of each calibration angular point is completed); the 2 coding sequences of each calibration angular point can realize the judgment of the number of the lines and the columns of the uniquely determined coding plane target where the calibration angular point is located.

The steps of finishing the unique coding of each calibration angular point on the coding plane target by taking the obtained coding number of the parallelogram coding unit on the coding plane target and 2 coding serial numbers (namely, non-unique line coding numbers) of each calibration angular point as input conditions are as follows:

step 5.17.1, let j be Max { m', m "}, assume line j-1, f_jThe number of calibration corner points at 4 vertices of each parallelogram coding unit is phi'_p；

Step 5.17.2.1, determining whether N is an even number, if N is an even number, taking an integer parameter Δ and assigning Δ to be N/2, and executing step 5.17.2.1.1; if N is not even, go to step 5.17.2.2;

step 5.17.2.1.1, all bits are located with code number e'₁Of the parallelogram coding unit

Calibration corner points on a coding region

Is described as the first

The corner point is marked by a number, wherein z_v≤e′₁≤z_m，

Or 6, z_mCan be obtained from formula (17);

step 5.17.2.1.2, take all bits located at code number e'₂Of the parallelogram coding unit

Calibration corner points on a coding region

Wherein

Or 4, e'₁≥z′_v，z′_vAs can be derived from the formula (18),

and according to

The values of (A) are divided into the following cases:

(1) when in use

Then will be located at code number e'₂Of the parallelogram coding unit

Calibration corner points on a coding region

Is recorded as the fourth (e'₂-a) 6 calibration corner points;

(2) When in use

Then will be located at code number e'₂Of the parallelogram coding unit

Calibration corner points on a coding region

Is recorded as the fourth (e'₂Calibrating a corner point by a number delta-1) _ 1;

after the step 5.17.2.1 is finished, ending the calibration of the corner point uniqueness coding;

step 5.17.2.2, taking the integer parameter delta and assigning the value delta to be (N +1)/2, and executing step 5.17.2.2.1;

step 5.17.2.2.1, all bits are located with code number e'₁Of the parallelogram coding unit

Calibration corner points on a coding region

Is described as the first

The corner point is marked by a number, wherein z_v≤e′₁≤z_m，

Or 6, z_mCan be derived from formula (19);

z_m＝ε+z_v-Δ-1 (19)

step 5.17.2.2.2, this step includes the following two cases:

case 1 when phi_pWhen 1, all bits are located at code number e'₂Of the parallelogram coding unit

Calibration corner points on a coding region

Wherein

Or 4, e'₁≥z′_v，z′_vAs can be derived from the equation (20),

z′_v＝z_v+Δ (20)

then according to

The values of (A) are divided into the following cases:

(1) when in use

Then will be located at code number e'₂Of the parallelogram coding unit

Calibration corner points on a coding region

Is recorded as the fourth (e'₂- Δ ') _6, where Δ' can be derived from equation (21),

wherein Δ ═ 2 (e'₂-z_v) V (N +1) +1 (integers only retained);

(2) when in use

Then will be located at code number e'₂Of the parallelogram coding unit

On the coding regionCalibration corner point

Is recorded as the fourth (e'₂- Δ ') _1, where Δ' can be derived from equation (22),

case 2 when phi_pWhen 2, all bits are located at code number e'₂Of the parallelogram coding unit

Calibration corner points on a coding region

Wherein

Or 4, e'₁≥z′_v，z′_vCan be derived from the formula (20)

The values of (A) are divided into the following cases:

(1) when in use

Then will be located at code number e'₂Of the parallelogram coding unit

Calibration corner points on a coding region

Is recorded as the fourth (e'₂-a corner point referenced # Δ ') _6, where Δ' can be derived from equation (22);

(2) when in use

Then will be located at code number e'₂Of the parallelogram coding unit

Calibration corner points on a coding region

Is recorded as the fourth (e'₂-a corner point referenced # 1, # Δ '_ where Δ' can be derived from equation (21); after the step 5.17.2.2 is finished, ending the calibration of the corner point uniqueness coding;

the unique coding work of all the calibration corner points in the coding plane target is finished through the steps, and each calibration corner point has a determined and unique coding number.

Step 6, let r ═ r-1, if r ≠ 0, then the number set Ψ of the uncoded coded planar target in the coded stereo target_rMiddle exclusion number I_rAnd then, repeating the steps 3 to 5 until the coding work of all the calibration corner points in the coding stereo target is finished.

Through the steps, the unique coding work of all the calibration angle points in the coding plane target in the coding three-dimensional target can be completed, and the unique coding number of each calibration angle point in the coding three-dimensional target, the coding number of the coding plane target where each calibration angle point in the coding three-dimensional target is located and the coding number of the reference plane board area where each calibration angle point in the coding three-dimensional target is located are found.

Furthermore, a computer-readable storage medium is provided, comprising a computer program for use in conjunction with an electronic device having image processing functionality, the computer program being executable by a processor to perform the encoding method as described above.

Compared with the prior art, the invention has the following beneficial effects:

1. the invention sets S areas in the reference plane, each area comprises a coding plane target, and the space postures of the areas are different, thus the invention can finish the calibration process of a monocular or monocular vision single image on the premise of keeping higher precision, and improves the operability and efficiency of the calibration process;

2. in the invention, enough multiple areas can be divided in the reference plane plate, enough coding plane targets are arranged, and the space angle of each direction can be adjusted by each coding plane target, so that the space attitude is adjusted, and the fault tolerance rate and the robustness of the camera calibration process are greatly improved;

3. the coding plane target adopted in the invention has a simple coding pattern structure, so that in the camera calibration process, the calibration angular points and the coding information of any coding plane target in the coding three-dimensional target can be accurately and quickly obtained by using a digital image processing technology according to a single image, thereby improving the operability of the camera calibration process;

4. in the invention, enough calibration angle points can be arranged in each coding plane target in the reference plane plate, so that the condition of incomplete shot images in the camera calibration process can be dealt with, and simultaneously, in the coding three-dimensional target, the coding information of each calibration angle point is uniquely determined, thereby ensuring the accuracy of the camera calibration process;

5. the coding information in the coding three-dimensional target has huge coding capacity, and a large enough reference plane board and the largest coding plane target can be developed, so that the coding three-dimensional target can cope with various calibration scenes such as a large view field or a complex background, and the application range is wide.

Drawings

FIG. 1 is a 3D schematic representation of an encoded solid target employed in the examples;

FIG. 2 is a schematic illustration of division of a reference plane in-plane region encoding a stereoscopic target;

FIG. 3 is a schematic view of a linkage mechanism for encoding a three-dimensional target;

FIG. 4 is a schematic front view of a coding plane target plate in a coding stereo target;

FIG. 5 is a schematic view of the reverse side of the encoding planar target plate in the encoding stereo target;

FIG. 6 is a schematic diagram of a connection mechanism connecting a coding plane target board and a reference plane board in a coding stereo target;

FIG. 7 shows a prescribed vector for encoding a planar target according to an embodiment of the present invention

And an auxiliary vector

A schematic diagram of (a);

FIG. 8 shows a specific vector in a planar target according to code number 5 in an embodiment of the present invention

And an auxiliary vector

Searching schematic diagrams of a 1 st parallelogram coding unit in a 1 st line and a 1 st parallelogram coding unit in a 2 nd line;

FIG. 9 shows a specific vector in a planar target according to number 5 encoding in an embodiment of the present invention

And a schematic diagram of each line of the 1 st parallelogram coding units determined by the 1 st parallelogram coding unit of the 1 st line and the 1 st parallelogram coding unit of the 2 nd line;

FIG. 10 shows an exemplary embodiment of the present invention for encoding auxiliary vectors in a planar target according to No. 5

And a schematic diagram of all parallelogram coding units in each row determined by the 1 st parallelogram coding unit in each row;

fig. 11 is a schematic view of a code sequence number of each parallelogram coding unit determined according to a coding method of each calibration corner point in the No. 5 coding plane target in the embodiment of the present invention;

FIG. 12 is a schematic diagram of a target coordinate system established within the coded planar target No. 5 in an embodiment of the present invention;

FIG. 13 is a schematic diagram of non-unique coding of each calibration corner point in the No. 5 coding plane target according to the embodiment of the present invention;

FIG. 14 is a schematic diagram of unique codes of each calibration corner point in the No. 5 coded planar target according to the embodiment of the present invention;

FIG. 15 is a schematic view of the coding planar target number 1;

FIG. 16 is a schematic view of the number 2 coded planar target;

FIG. 17 is a schematic view of the encoding planar target number 3;

FIG. 18 is a schematic view of the encoding planar target number 4;

FIG. 19 is a schematic view of the coding planar target No. 5;

FIG. 20 is a schematic view of the coding planar target No. 6;

fig. 21 is a schematic flow chart of the encoding method based on the encoding stereo target of the present invention.

Detailed Description

The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention easier to understand by those skilled in the art, and thus will clearly and clearly define the scope of the invention.

Referring to fig. 1, the coded three-dimensional target for rapidly calibrating the internal and external parameters of the camera comprises a reference plane plate, a coded plane target plate and a connecting mechanism, the coded three-dimensional target shown in fig. 1 totally comprises 1 reference plane plate, 6 coded plane target plates and 6 connecting mechanisms, the surface of the reference plane plate is divided into 6 areas, each area is fixedly provided with one connecting mechanism, the end part of each connecting mechanism is movably connected with one coded plane target plate through a spherical hinge, and the space posture of each coded plane target plate can be movably adjusted.

The reference plane plate of the coding stereo target is a cuboid thin plate structure with the length of a, the width of b and the thickness of c; in this embodiment, the length of the reference plane plate for encoding the stereoscopic target is 450mm, the width thereof is 450mm, and the thickness thereof is 13 mm.

Selecting a rectangular surface with the length of 450mm and the width of 450mm as a reference surface in a reference plane board for encoding the three-dimensional target, and adopting the division methodThe method divides the reference surface into 6 areas with 2 rows by 3 columns, and the dividing method is as follows: step 1, arbitrarily taking one vertex of a reference surface as an origin o of a reference coordinate system, and taking one side which is intersected to form the origin o and has the length of a in the reference surface as an x-axis determination side N of the reference coordinate system₁Determining the edge N on the x-axis of the reference coordinate system₁Taking the vertex of the reference surface as the x-axis determination edge N of the reference coordinate system₁Upper first point o₁Wherein the x-axis of the reference coordinate system determines the edge N₁Upper first point o₁2 points which are not coincident with the origin o of the reference coordinate system are recorded as vectors

Determining vectors for the x-axis of a reference coordinate system

One side with the length b and intersecting to form an origin o in the reference plane is taken as a y-axis determination side N of the reference coordinate system₂Determining the edge N on the y-axis of the reference coordinate system₂The vertex of the upper reference surface is recorded as the y-axis determination edge N of the reference coordinate system₂Upper first point o₂Wherein the y-axis of the reference coordinate system determines the edge N₂Upper first point o₂2 points which are not coincident with the origin o of the reference coordinate system are recorded as vectors

Determining vectors for the y-axis of a reference coordinate system

With direction of the reference coordinate systemForward of the y axis, and the x axis, the y axis and the z axis meet the right hand rule, so that a reference coordinate system o-xyz is established;

step 2, in the reference plane, according to the reference coordinate system o-xyz, using S_a-1-2 longitudinal region dividing lines parallel to the y-axis and S_b-1 transverse region dividing lines parallel to the x-axis divide the reference plane into S regions, wherein S_a、S_bAre all positive integers, S_a＝3，S _b2 and S_aThe maximum number of rows of the regions that can be divided among the S regions divided in the reference plane, i.e., the maximum value of the row numbers of the S regions in the reference plane, is also represented by S_bThe maximum number of lines indicating the regions that can be divided by dividing 6 regions in the reference plane, i.e., the maximum value of the line numbers of the 6 regions in the reference plane, has S_a·S _b3 × 2 — S — 6, the reference plane can then be divided into 6 regions;

step 3, in the reference plane, recording a region containing a reference coordinate system o-xyz origin o as a row 1 and column 1 region, and recording the row 1 and column 1 region as a No. 1 region; taking region No. 1 as a starting region, sequentially recording 2 regions searched along the x-axis of a reference coordinate system in the forward direction as a row 1, a column 2 region and a row 1, a column 3 region, and simultaneously recording a row 1, a column 2 region as

Number region, line 1, column 3 region

A number area in which, among others,

denote the 2 nd row and 1 st column regions as

A number area; to be provided with

The number region is a starting region, and 2 regions which are sequentially searched along the x axis of the reference coordinate system in the forward directionThe areas are sequentially marked as the 2 nd row and 2 nd column area and the 2 nd row and 3 rd column area, and the 2 nd row and 2 nd column area is marked as the area

Number zone, line 2, column 3 zone

A number area in which, among others,

as shown in fig. 2, the 6 coded planar targets have the following features: the coding plane target board is a cuboid, one of 6 planes of the coding plane target board is arbitrarily selected as the front surface of the coding plane target board in the coding plane target board, and one plane parallel to the front surface of the coding plane target board is selected as the back surface of the coding plane target board in the remaining 5 planes of the coding plane target board; the front side of the coding plane target board is internally provided with a coding plane target, and the back side of the coding plane target board is used for being connected with the connecting mechanism. In this embodiment, the connection mechanism is as shown in fig. 3; the front surface of the coding plane target board is provided with a coding plane target, as shown in figure 4; the reverse side of the coded planar target board is shown in fig. 5 and is used for connecting with a connecting mechanism; at the same time, the attachment mechanism attaches the encoded planar target board to the reference planar board, as shown in FIG. 6.

In 6 regions of the reference surface, there is one and only one connecting mechanism in each region of the reference surface to connect 1 coded planar target board with the reference planar board, the reference surface is marked as the first

The connection mechanism in the region is

Connection mechanism, recording

Connected by a connecting mechanism1 coding plane target board is the first

Coded planar target, 6 th

Connecting mechanisms being different from each other, 6 th connecting mechanism entities

Coded planar target entities with mutually different coded planar targets, wherein

Will be first

The coding plane target in the front surface of the coding plane target plate is marked as the first

A planar target is encoded.

In this embodiment, the coded three-dimensional targets comprise 6 coded planar targets in total, and the coded planar targets from No. 1 to No. 6 are shown in fig. 15-20, wherein the characteristics of each coded planar target are as follows:

the coding plane target consists of coding checkerboards formed by alternating parallelogram coding units and parallelogram non-coding units, in the embodiment, all the parallelogram coding units and the parallelogram non-coding units in the coding plane target are squares with the side length of 13.5 millimeters; the coding plane target takes the intersection points of the parallelogram coding units connected with any opposite angles as the calibration angular points of the coding plane target, and the coding plane target comprises 5 lines multiplied by 5 columns of calibration angular points in total.

As shown in fig. 7, taking the coding plane target No. 5 as an example, any parallelogram coding unit in the coding plane target No. 5 is taken as the coding plane target vector determination coding unit Γ_v(in FIG. 7, line 3, 3 rd parallelogram coding unit determines coding unit Γ for coding planar target vectors_v) And determining a coding unit gamma by taking No. 5 coding plane target vectors_vOne vertex of the vector determination coding unit is marked as a first vertex o ″ of the vector determination coding unit₁Determining a coding unit gamma in the coding plane target vector_vWherein the intersections form a vector defining a first vertex o ″' of the coding unit₁Any one edge of the first edge is marked as a vector to determine first edge Ν of the coding unit_v1Determining the first edge Ν of the coding unit in the vector_v1Upward orientation amount determination encoding unit Γ_vThe vertex of (a) is marked as the first point o' on the first side of the vector-determined coding unit₂Wherein the vector determines a first point o' on a first side of the coding unit₂And vector determines the first vertex o ″ "of the coding unit₁Are 2 points which are not coincident with each other, and the vector is recorded

To specify a vector

And the direction and the specified vector pointing from the center of mass of the oriented pattern to the center of mass of the oriented pattern in the same parallelogram coding unit

In the same direction.

Front view target plane P_tThen, the first vertex o' of the coding unit is determined by the vector₁As a center of rotation, in a target plane P_tDefining the 1 st unit vector

The unit vectors with the same direction are recorded as positive vectors

Determining a coding unit gamma by using a coding plane target vector_vUpper distance coding plane target vector determination coding unit gamma_vThe two nearest vertexes of the orientation pattern in (1) are respectively marked as the 1 st temporary vertex o ″₃And the 2 nd temporary vertex o ″₄(ii) a If it is

Direction of the resulting vector and the forward vector

Are in the same direction, they will be recorded as vectors

Auxiliary vector

If it is

Direction of the resulting vector and the forward vector

Are in the same direction, then vector will be generated

Is recorded as an auxiliary vector

In this embodiment, the vector determines the first vertex o ″' of the coding unit₁The vector determines a first point o' on a first side of the coding unit₂Specifying the vector

And an auxiliary vector

As shown in fig. 7.

The positioning pattern, the orientation pattern and the coding unit pattern inside each parallelogram coding unit in the coding plane target are not overlapped and not communicated.

The positioning pattern in each parallelogram coding unit in each coding plane target is a solid circle with the diameter of 3mm, the orientation patterns are all circular rings with the outer diameter of 3mm and the inner diameter of 1.5 mm, and the position relation of the positioning pattern and the orientation patterns meets the following conditions: the positioning pattern and the orientation pattern of the same parallelogram coding unit are both arranged inside the parallelogram coding unit, the mass center of the positioning pattern and the mass center of the orientation pattern in the same parallelogram coding unit are both arranged near the mass center of the parallelogram coding unit, and the direction and the specified vector pointing to the mass center of the positioning pattern from the mass center of the orientation pattern in the same parallelogram coding unit

In the same direction.

The sizes of a plurality of coding unit patterns in the same parallelogram coding unit in each coding plane target can be different or different; in the embodiment of the invention, the 12 coding unit patterns in the same parallelogram coding unit in each coding plane target are all solid circles with the diameter of 1.5 mm.

Each parallelogram coding unit and the positioning pattern and the coding unit pattern inside the parallelogram coding unit in each coding plane target satisfy the following relations: in the same parallelogram coding unit, the contour length of each coding unit pattern is smaller than that of the positioning pattern, and the contour length of the positioning pattern is smaller than the perimeter 2d +2e of the parallelogram coding unit. In the present embodiment (as shown in fig. 4), in the same parallelogram-shaped coding unit, the contour length of each coding unit pattern is 2.36 mm smaller than the contour length of the positioning pattern is 4.71 mm, and the contour length of the positioning pattern is 4.71 mm smaller than the perimeter of the parallelogram-shaped coding unit is 48 mm.

The background colors of all the parallelogram coding units in each coding plane target are the same, and the background colors of all the parallelogram coding units in each coding plane target are marked as color 1; the colors of all the parallelogram non-coding units in the coding plane target are the same, and the colors of all the parallelogram non-coding units in the coding plane target are marked as color 2; the background color (i.e. color 1) of all parallelogram coding units in the coding plane target is obviously different from the color (i.e. color 2) of all parallelogram non-coding units; in a specific embodiment (as shown in fig. 4), the background color of all parallelogram-encoded units in each encoded plane target is black (i.e., color 1), and is significantly different from the color of all parallelogram-non-encoded units in each encoded plane target being white (i.e., color 2).

The colors of all the positioning patterns and all the orientation patterns contained in all the parallelogram coding units in each coding plane target are the same, the colors of all the positioning patterns and all the orientation patterns contained in all the parallelogram coding units in each coding plane target are marked as color 3, and the color 3 is obviously different from the color 1; in the embodiment of the present invention, the color of all the positioning patterns and orientation patterns contained in all the parallelogram coding units in each coding plane target is white (i.e. color 3). In this embodiment (as shown in fig. 4), the color 3 and the color 2 are both white, and the color 3 (white) is obviously different from the color 1 (black).

The color of all the code cell patterns contained within all the parallelogram code cells in each code plane target is the same as color 1 or the same as color 3. In this embodiment (as shown in fig. 4), the color of all the coding unit patterns in the coding plane target is black (color 1) or white (color 3).

The connected domain with the color black (i.e. color 1) in each parallelogram coding unit in each coding plane target has the following characteristics: the same parallelogram coding unit contains 2 black (namely color 1) connected domains, and the area of the black (namely color 1) connected domain closest to the centroid of the oriented pattern is smaller than that of the other black (namely color 1) connected domain.

The area sizes of the positioning patterns contained in different parallelogram coding units in each coding plane target can be the same or different; as shown in fig. 4, in this embodiment, the positioning patterns included in different parallelogram-shaped coding units in each coding plane target have the same area size.

The area sizes of the orientation patterns contained in different parallelogram coding units in each coding plane target can be the same or different; as shown in fig. 4, in the present embodiment, the different parallelogram-shaped coding units in each coding plane target include the same area size of the orientation pattern.

The area sizes of the coding unit patterns contained in different parallelogram coding units in each coding plane target can be the same or different; as shown in fig. 4, in this embodiment, the coding unit patterns included in different parallelogram coding units in each coding plane target have the same area size.

In this embodiment, the total number of the coding sequence numbers of the parallelogram coding units of the coding plane targets is 4096, consecutive numbers are used, and the coding sequence number range is [0,4095], so that the coding sequence numbers of any parallelogram coding unit in all the S coding plane targets are within this range, that is, the coding number of the parallelogram coding unit with the largest coding number in the coding stereo target should be less than 4096.

Referring to fig. 21, a coding method based on the coding three-dimensional target finds a unique coding number of each calibration corner point in the coding three-dimensional target, a coding number of the coding plane target where each calibration corner point in the coding three-dimensional target is located, and a coding number of a reference plane plate region where each calibration corner point in the coding three-dimensional target is located by coding all calibration corner points in each coding plane target, thereby completing coding of all calibration corner points of the whole coding three-dimensional target.

step 1, taking variable r to represent the number of encoding plane targets which do not complete encoding and the number of regions which do not complete encoding, setting an initial value r to be S, and setting an initial encoding number z of a parallelogram encoding unit in an encoding stereo target_S，z_SIs a positive integer; in this embodiment, the initial value r is set to 6, and the initial code number of the parallelogram coding unit in the coded stereo target is z₆＝0。

Step 2, setting the number ranges of the coding stereo target region and the coding plane target as continuous positive integers of 1,2,3_r＝[1,2,3,...,S]R also represents the number of the numbers in the number set; in this embodiment, the number ranges of the coding stereo target region and the coding plane target are consecutive positive integers of 1,2,3,4,5, and 6, and the number set of the coding plane target not coded in the coding stereo target is assumed to be Ψ_r＝[1,2,3,4,5,6]。

Step 3, in 6 areas which are not coded, coding is carried out in space according to any rule or at randomSelecting a region in the coded stereo target, and simultaneously selecting a number set psi of an uncoded coded plane target in the coded stereo target_r＝[1,2,3,4,5,6]In the method, a number is selected according to any rule or at random and is marked as I_rIn this example I_rAnd 5, the number of the selected corresponding area is used as the number of the selected corresponding area.

And calculating to obtain a No. 5 region as a region where the No. 2 row and the No. 2 column on the coding stereo target reference plane plate are located, wherein the coding plane target in the No. 5 region is the No. 5 coding plane target, and the No. 5 coding plane target has 5 multiplied by 5 which is 25 calibration angular points and 18 parallelogram coding units.

Step 4, initial coding number z of the No. 5 coding plane target in the No. 5 area_rCarrying out reassignment;

in this embodiment, if r is 6 ═ S, and r is S, the initial code number of the coding plane target No. 5 in the coding plane target No. 5 area is z_r＝0；

Step 5, coding all the calibration corner points of the No. 5 coding plane target in the No. 5 area by using a coding method of the coding plane target to obtain a unique coding number of each calibration corner point in the No. 5 coding plane target;

the specific encoding process is as follows:

step 5.1, taking integer 0 as an initial coding number in the coding plane target, namely ordering z _v0; the total number of the coding plane targets is 5 lines multiplied by 5 columns of calibration angular points, M and N are both odd numbers, and the total number epsilon of the parallelogram coding units can be calculated by a formula (1):

ε＝(M-1)(N-1)/2+M+N＝18 (1)

wherein M ═ 5 and N ═ 5;

step 5.2.1, recording one parallelogram coding unit in the arbitrarily-selected coding plane target as pi₁Any one of the coding units II is connected with a parallelogram coding unit₁Parallelogram coding units with common vertices denoted pi₂Therein Π₁And pi₂The position of (2) is selected as shown in figure 8;

step 5.2.2, coding from parallelogram on the coding plane targetUnit II₁Initially, will follow and define a vector

As shown in fig. 8;

step 5.2.3, on the coded planar target, the vector to be encoded is determined

As shown in fig. 8;

step 5.2.4, on the coding plane target, the vector to be encoded and the auxiliary vector

The farthest parallelogram coding unit is denoted as Γ as the transverse end parallelogram coding unit 1₁As shown in fig. 8;

step 5.2.5, on the encoding plane target, the vector to be encoded and the auxiliary vector

With the furthest parallelogram-shaped coding unit as the crossbarThe end-pointing parallelogram-shaped coding unit 2 is denoted by Γ₂As shown in fig. 8;

step 5.2.6, in this embodiment, the parallelogram encoding unit Γ₁And a parallelogram encoding unit Γ₂The number of the middle calibration angular points satisfies phi ₁2 and phi ₂2, and

and

are parallel and

and

in the case of parallelism, the transverse end parallelogram coding unit 1 gamma₁The code number of (1) is 0, and as shown in FIG. 9, the coding unit 1 Γ is written in the form of a parallelogram-shaped unit₁For line 1, parallelogram coding unit

step 5.2.8, in this embodiment, on the encoding plane target, the 1 st parallelogram encoding unit in the 1 st row can be obtained by searching respectively

Line 3, line 1 parallelogram

coding unit

Line

5, 1 st parallelogram coding unit

The integer variable m' is 6, and the search result is shown in fig. 9;

step 5.2.9, assigning the integer variable δ again, wherein δ is 1;

step 5.2.10, in this embodiment, on the encoding plane target, the 1 st parallelogram encoding unit in the 2 nd row can be obtained by searching respectively

Line

4, 1 st parallelogram

coding unit

Line

6, 1 st parallelogram coding unit

The integer variable m ″, which is 6, the search result is shown in fig. 9;

step 5.2.12, encoding the first parallelogram encoding unit from line 1 on the encoding plane target

Starting and following the auxiliary vector

Searching for a parallelogram coding unit in the direction of (1);

step 5.2.13, judging whether delta is less than 6; when δ is less than 6, δ +1 is assigned to δ, ρ is reassigned to ρ being 1, and then step 5.2.12 is executed again; otherwise, go to step 5.2.14;

in this embodiment, the 1 st parallelogram coding unit in the 1 st row can be obtained according to steps 5.2.12 and 5.2.13

Line 1,2 nd parallel fourEdge coding unit

Line 1, 3 rd parallelogram coding unit

Line 2, line 1 parallelogram coding unit

Line 2, 2 nd parallelogram coding unit

Line 2,3 rd parallelogram coding unit

Line 3, line 1 parallelogram coding unit

Line 3, 2 nd parallelogram coding unit

Line 3, line 3 parallelogram coding unit

And f is₃3; line 4, 1 st parallelogram coding unit

Line 4, 2 nd parallelogram coding unit

Line 4, 3 rd parallelogram coding unit

And f is₄3; line 5, 1 st parallelogram coding unit

Line 5, 2 nd parallelogram coding unit

Line 5, 3 rd parallelogram coding unit

And f is₅3; line 6, 1 st parallelogram coding unit

Line 6, 2 nd parallelogram coding unit

Line 6, 3 rd parallelogram coding unit

And f is₆3; the following can be obtained in the examples: f. of₁＝3,f₂＝3,f₃＝3,f₄＝3,f₅3, namely representing that in the encoding plane target, the number of parallelogram encoding units in the 1 st, 2 nd, 3 rd, 4 th, 5 th and 6 th lines is 3, and the search result is shown in fig. 10;

step 5.2.14, recording

Representing the rho parallelogram coding unit of the delta row

A corresponding code number;

step 5.2.15, assigning the value delta to the integer variable delta to be 1 again; taking an integer variable z', and adding an initial code number value z_vAssigning a value to z'; re-assigning rho to the integer variable rho to be 0; in this embodiment, z' is assigned 0; taking an integer variable rho and assigning rho to be 0;

step 5.2.16, assign z' + ρ to

in this embodiment, the encoding plane target can be obtained through steps 5.2.16 and 5.2.17,

the code number of each parallelogram coding unit in the corresponding coding plane target is shown in FIG. 11;

step 5.3.1, establishing a target coordinate system, and recording the 1 st parallelogram coding unit of the 1 st line

The calibration corner point in is alpha'₁At this time, a calibration corner point alpha 'is selected'₁Origin O as target coordinate system_tTo assist the vector

Is taken as X of a target coordinate system_tThe direction of the axis;

step 5.3.2 with forward vector

As Z of the target coordinate system_tDirection of axis, Y of target coordinate system_tAxis, X_tAxis and Z_tThe axis meets the right-hand criterion, so as to establish a target coordinate system O_t-X_tY_tZ_tAs shown in fig. 12;

step 5.4, taking an integer variable e and giving an initial value of e ═ z_v(ii) a In this embodiment, 0 is assigned to the integer variable e;

and 5.5, in the coding plane target, respectively recording the target coordinates of the centroids of the positioning circles as o in the parallelogram coding units corresponding to the coding numbers of 0_l,0(6.75, -4.5,0) and the target coordinate of the center of mass of the directional ring iso_d,0(6.75, -9,0), the vector pointing from the orientation ring centroid to the orientation ring centroid is the direction vector in the parallelogram coding unit corresponding to the coding number 0

Calculating the distance positioning circular mass center o in the parallelogram coding unit with the coding number of 0_l,0The two nearest vertexes are respectively marked as C_0,1min(13.5,0,0) and C_0,2min(0,0,0) direction vector in parallelogram coding unit with code number 0

The vertex vector in the parallelogram coding unit corresponding to the code number 0, which can be calculated by the formula (2)

Can be calculated from the formula (3),

in the parallelogram coding unit with the code number of 0, the centroid o of the positioning circle is recorded_l,0And parallel to the vertex vector

Is a straight line of_1,0Over-orientation of the center of mass o of the ring_d,0And parallel to the vertex vector

Is a straight line of_2,0Passing through the location of the centroid o_l,0And the center of mass o of the directional ring_d,0Is a straight line of_3,0(ii) a Using a straight line l_3,0Line l_1,0And a straight line l_2,0The parallelogram with the code number of 0 can be correspondedThe shape coding unit is divided into 6 coding regions, and each coding region in the parallelogram coding unit with the coding number of 0 comprises 2 coding unit patterns;

and 5.6, in the parallelogram coding unit with the coding number of 0, respectively calculating a first judgment vector in the parallelogram coding unit according to the formula (8) and the formula (9)

And a second decision vector

Then, the first vector of the division of the region in the parallelogram coding unit with the coding number 0 can be calculated by the formula (10) and the formula (11) respectively

And area division second vector

Due to the fact that

And is

Then vertex C will be pointed out_0,1min(0,0,0) is recorded as the positioning vertex of the 1 st coding region in the parallelogram coding unit corresponding to the coding number 0

And vertex-locating the 1 st coding region

The coding region to which the code belongs is marked as a 1 st coding region in the parallelogram coding unit with the coding number of 0; at the same time, the vertex C_0,2min(0,0,0) is recorded as the positioning vertex of the 6 th coding region in the parallelogram coding unit corresponding to the coding number of 0

And vertex-locating the 6 th coding region

The coding region to which the code belongs is marked as a 6 th coding region in the parallelogram coding unit with the coding number of 0;

and 5.7, in the parallelogram coding unit with the coding number of 0, taking the 1 st coding region of the parallelogram coding unit as a starting region and the 6 th coding region as an end region, and clockwise (along the target coordinate system Z)_tThe opposite direction of the positive direction of the shaft), and sequentially marking the 6 coding regions in the parallelogram coding unit as the 1 st coding region, the 2 nd coding region, the 3 rd coding region, the 4 th coding region, the 5 th coding region and the 6 th coding region of the parallelogram coding unit;

step 5.8, the centroid of the ith coding unit pattern (i ═ 1,2) in the σ -th coding region (σ ═ 1,2,5,6) in the parallelogram coding unit corresponding to the coding number 0 to the straight line l_1,0Is recorded as

The parallelogram corresponding to the code number 0Centroid-to-straight line l of ith (i-1, 2) coding unit pattern in pi-th coding region (pi-3, 4) in shape coding unit_2,0Is recorded as

The centroid of the ith (i ═ 1,2) coding unit pattern in the theta-th coding region (θ ═ 1,2,3,4,5,6) in the parallelogram coding unit corresponding to the coding number 0 is directed to the straight line l_3,0Is recorded as

The embodiment comprises the following steps:

step 5.9, in this embodiment, in the parallelogram coding unit with the coding number of 0,

and is

At the same time, the user can select the desired position,

and is

Step 5.10, in this embodiment, in the sigma-th coding region in the parallelogram coding unit with the coding number of 0, because

And is

Then remember that the 1 st coding unit pattern in the sigma coding region in the parallelogram coding unit is the sigma coding in the parallelogram coding unitBit 1 coding unit pattern in a region

Wherein σ is 1,2,5, 6;

step 5.11, in this embodiment, in the pi-th coding region in the parallelogram coding unit corresponding to the coding number 0, because

And is

Then, the 1 st coding unit pattern in the pi-th coding region in the parallelogram coding unit is recorded as the 1 st coding unit pattern in the pi-th coding region in the parallelogram coding unit

Wherein pi is 3, 4;

step 5.12, in the parallelogram coding unit with the coding number of 0, the j-th coding unit pattern in the theta-th coding area is coded

The corresponding code value is noted

Wherein j is 1,2 and θ is 1,2,3,4,5,6, and

can only take the value of 0 or 1;

step 5.13, the 12-bit binary number corresponding to the code number 0 is marked as w₀W in this embodiment₀＝＝(000000000000)₂And specify

Respectively corresponding to binary numbers w in sequence from the lowest order to the highest order₀And must satisfy formula (16),

G^T·F₀＝＝0 (16)

column vector F₀＝(0,0,0,0,0,0,0,0,0,0,0,0)^T；

Step 5.14, all coding unit patterns in the parallelogram coding unit corresponding to the coding number 0

All coded values of (are 0, i.e.

All the coding unit patterns in the parallelogram coding unit corresponding to the coding number 0

Is black (i.e., color 1), where j is 1,2 and θ is 1,2,3,4,5, 6;

step 5.15, this example belongs to g _e1 and

in the case of (1), the calibration corner point located on the 1 st coding region in the parallelogram coding unit with the coding number of 0 is marked as the calibration corner point of the 1 st coding region in the parallelogram coding unit with the coding number of 0

Thus, the coding work of the parallelogram coding unit with the coding number of 0 is completed;

step 5.16, assigning the e +1 to the e again, and performing the encoding step again to finish the encoding work of the parallelogram encoding unit with the encoding number of 1; by analogy, the non-unique encoding work of all the 18 parallelogram encoding units in the embodiment can be finally completed, as shown in fig. 13.

step 5.17.1, let j be Max { m ', m }, in this embodiment, j be 6, and the number Φ ' of calibration corner points be 4 vertices of the 3 rd parallelogram coding unit in the 5 th row '_p＝＝2；

Step 5.17.2.1, since N ═ 5 is an odd number, execute step 5.17.2.2;

step 5.17.2.2, taking the integer parameter Δ and assigning the value Δ ═ N +1)/2 ═ 3, and executing step 5.17.2.2.1;

Calibration corner points on a coding region

Is described as the first

The corner point is marked by a number, wherein z_v≤e′₁≤z_m，

Or 6, z_mCan be derived from formula (19);

z_m＝ε+z_v-Δ-1＝14 (19)

from this step, the corner point is calibrated

Respectively marked as a No. 0_6 calibration corner, a No. 0_1 calibration corner, a No. 1_6 calibration corner, …, a No. 13_1 calibration corner and a No. 14_6 calibration corner;

step 5.17.2.2.2, in this embodiment,. phi_pWhen the angular point is 2, the angular point is calibrated by the calculation of the formula (20), the formula (21) and the formula (22)

Respectively marking as No. 0_6 calibration angular point, No. 0_1 calibration angular point, No. 1_6 calibration angular point, …, No. 13_1 calibration angular point and No. 14_6 calibration angular point;

In this example, r-S-1-5 e [1, S ∈]Thus, the new set of numbers Ψ encoding the uncoded planar target in the stereo target_rIs

Ψ

_r1,2,3,4,6, and skipping to step 3 until completing the loop, and completing the encoding tasks of all 6 encoding plane targets, the encoding plane target No. 1 is shown in fig. 15, the encoding plane target No. 2 is shown in fig. 16, the encoding plane target No. 3 is shown in fig. 17, and the encoding plane target No. 4 is shown in fig. 1718, coding plane target No. 5 is shown in fig. 19, and coding plane target No. 6 is shown in fig. 20. In a specific embodiment, a unique code serial number corresponding to each calibration corner point in the coded three-dimensional target, a pixel coordinate value in a unique pixel coordinate system and a target coordinate value in the unique target coordinate system are shown in tables 1-6;

table 11 coded plane target all calibration corner point information

Coding plane target coding number	Unique code number	Target coordinate value	Coding plane target coding number	Unique code number	Target coordinate value
						1	92_6	(0，54)	1	84_1	(27，13.5)
1	89_1	(0，40.5)	1	81_6	(27，0)
						1	86_6	(0，27)	1	93_1	(40.5，54)
1	83_1	(0，13.5)	1	91_6	(40.5，40.5)
						1	80_6	(0，0)	1	87_1	(40.5，27)
1	92_1	(13.5，54)	1	85_6	(40.5，13.5)
						1	90_6	(13.5，40.5)	1	81_1	(40.5，0)
1	86_1	(13.5，27)	1	94_6	(54，54)
						1	84_6	(13.5，13.5)	1	91_1	(54，40.5)
1	80_1	(13.5，0)	1	88_6	(54，27)
						1	93_6	(27，54)	1	85_1	(54，13.5)
1	90_1	(27，40.5)	1	82_6	(54，0)
						1	87_6	(27，27)

Table 22 coded plane target all calibration corner point information

Coding plane target coding number	Unique code number	Target coordinate value	Coding plane target coding number	Unique code number	Target coordinate value
						2	110_1	(0，54)	2	102_6	(27，13.5)
2	107_6	(0，40.5)	2	99_1	(27，0)
						2	104_1	(0，27)	2	112_6	(40.5，54)
2	101_6	(0，13.5)	2	108_1	(40.5，40.5)
						2	98_1	(0，0)	2	106_6	(40.5，27)
2	111_6	(13.5，54)	2	102_1	(40.5，13.5)
						2	107_1	(13.5，40.5)	2	100_6	(40.5，0)
2	105_6	(13.5，27)	2	112_1	(54，54)
						2	101_1	(13.5，13.5)	2	109_6	(54，40.5)
2	99_6	(13.5，0)	2	106_1	(54，27)
						2	111_1	(27，54)	2	103_6	(54，13.5)
2	108_6	(27，40.5)	2	100_1	(54，0)
						2	105_1	(27，27)

Table 33 coded plane target all calibration corner point information

Table 44 coded plane target all calibration corner point information

Coding plane target coding number	Unique code number	Target coordinate value	Coding plane target coding number	Unique code number	Target coordinate value
						4	69_6	(0，54)	4	61_1	(27，13.5)
4	66_1	(0，40.5)	4	58_6	(27，0)
						4	63_6	(0，27)	4	70_1	(40.5，54)
4	60_1	(0，13.5)	4	68_6	(40.5，40.5)
						4	57_6	(0，0)	4	64_1	(40.5，27)
4	69_1	(13.5，54)	4	62_6	(40.5，13.5)
						4	67_6	(13.5，40.5)	4	58_1	(40.5，0)
4	63_1	(13.5，27)	4	71_6	(54，54)
						4	61_6	(13.5，13.5)	4	68_1	(54，40.5)
4	57_1	(13.5，0)	4	65_6	(54，27)
						4	70_6	(27，54)	4	62_1	(54，13.5)
4	67_1	(27，40.5)	4	59_6	(54，0)
						4	64_6	(27，27)

All calibration corner point information in table 55 number coding plane target

Coding plane target coding number	Unique code number	Target coordinate value	Coding plane target coding number	Unique code number	Target coordinate value
						5	12_6	(0，54)	5	4_1	(27，13.5)
5	9_1	(0，40.5)	5	1_6	(27，0)
						5	6_6	(0，27)	5	13_1	(40.5，54)
5	3_1	(0，13.5)	5	11_6	(40.5，40.5)
						5	0_6	(0，0)	5	7_1	(40.5，27)
5	12_1	(13.5，54)	5	5_6	(40.5，13.5)
						5	10_6	(13.5，40.5)	5	1_1	(40.5，0)
5	6_1	(13.5，27)	5	14_6	(54，54)
						5	4_6	(13.5，13.5)	5	11_1	(54，40.5)
5	0_1	(13.5，0)	5	8_6	(54，27)
						5	13_6	(27，54)	5	5_1	(54，13.5)
5	10_1	(27，40.5)	5	2_6	(54，0)
						5	7_6	(27，27)

Table 66 code plane target all calibration corner point information

The encoding method based on the encoding three-dimensional target provided by the invention needs to compile a corresponding computer program and execute the program on a computer to realize corresponding operation processing and logic control functions, so the invention also provides a computer readable storage medium comprising the computer program used in combination with an electronic device with an image processing function, and the computer program can be executed by a processor to realize the encoding method.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A code three-dimensional target for quickly calibrating internal and external parameters of a camera is characterized in that: the coding three-dimensional target comprises a reference plane plate, a coding plane target plate and a connecting mechanism, wherein the surface of the reference plane plate is divided into S areas, S is a positive integer and is more than 3, the connecting mechanism is fixedly arranged in each area, the end part of each connecting mechanism is movably connected with one coding plane target plate, the coding plane target plates connected by the connecting mechanism in each area are all different, the space posture of each coding plane target plate can be movably adjusted, and the coding plane target is arranged on the coding plane target plate.

2. The coding stereo target for fast calibration of internal and external parameters of camera according to claim 1, wherein: a reference coordinate system o-xyz is arranged in the reference plane plate of the coding three-dimensional target, wherein the reference coordinate system o-xyz is formed by taking any vertex of the reference plane as an origin o and taking two sides which pass through the origin o and intersect in the reference plane as an x axis and a y axis respectively;

in the reference coordinate system o-xyz, the reference plane is represented by S_a-1 longitudinal region division line parallel to the y-axis and S_b1 transverse segmentation line parallel to the x-axis into S regions, where S_a、S_bAre all positive integers, S_a∈[1，S]，S_b∈[1，S]And S is_a·S_b＝S；

In a reference plane, taking a reference coordinate system o-xyz origin o as a starting point, sequentially searching each region along the x-axis positive direction and the y-axis positive direction of the reference coordinate system in a matrix scanning mode, and recording the regions of the alpha row and the beta column as regions

Region number, where β denotes a region column number in the positive x-axis direction, α denotes a region row number in the positive y-axis direction,

a region number is indicated and a region number is indicated,

and alpha, beta,

Is a positive integer, β ═ 1,2,3_a，α＝1,2,3,...,S_b，

3. The coding stereo target for fast calibration of internal and external parameters of camera according to claim 1, wherein: the coding plane target consists of a coding checkerboard formed by alternating parallelogram coding units and parallelogram non-coding units, the coding plane target takes the intersection points of the parallelogram coding units connected with any opposite angle as the calibration angular points of the coding plane target, the coding plane target comprises M rows multiplied by N columns of calibration angular points in total, wherein M and N are positive integers; the interior of each parallelogram coding unit in the coding plane target is provided with a coding pattern, the coding pattern comprises a positioning pattern, an orientation pattern and a coding mark pattern, and the coding mark pattern consists of a plurality of coding unit patterns; the orientation pattern and the positioning pattern are used for judging the rotation direction of the coded plane target; the coding mark pattern is used for coding each calibration corner point in the coding plane target.

4. The coding stereo target for fast calibration of the internal and external parameters of the camera according to claim 3, wherein: the coding numbers of the parallelogram coding units in all the coding plane targets are different from each other, and the coding numbers of all the parallelogram coding units in each coding plane target are continuous integers.

5. The coding stereo target for fast calibration of camera internal and external parameters according to claim 3 or 4, characterized in that: the coding number range of the parallelogram coding unit of the coding plane target is [0,4095 ].

6. A coding method for coding a stereoscopic target according to claim 1, wherein the coding method comprises the following steps: the coding of all the calibration angle points of the whole coding three-dimensional target is completed by coding all the calibration angle points in each coding plane target, finding the unique coding number of each calibration angle point in the coding three-dimensional target, the coding number of the coding plane target where each calibration angle point in the coding three-dimensional target is located, and the coding number of the reference plane board area where each calibration angle point in the coding three-dimensional target is located.

7. The encoding method of claim 6, wherein the encoding method comprises: the method for coding each calibration corner point in the coding stereo target comprises the following steps:

step 2, setting the number ranges of the coding three-dimensional target area and the coding plane target as continuous positive integers of 1,2,3The number set of the target of the coding plane without coding in the target is psi_r＝[1,2,3,...,S]R also represents the number of the numbers in the number set;

step 3, in r areas with incomplete coding, selecting an area in the space coding three-dimensional target according to any rule or at random, and simultaneously coding the number set psi of the coding plane target which is not coded in the coding three-dimensional target_r＝[1,2,3,...,S]In the method, a number is selected according to any rule or at random and is marked as I_rAs the number of the selected corresponding area;

at the same time will I_rCoding plane target in number region is marked as I_rNumber coded planar target, note I_rThe total number of the coding serial numbers of the parallelogram coding units in the number coding plane target is L_r+1, note I_rI in number area_rThe number of the calibration angular points contained in the number coding plane target is M_r×N_rA plurality of;

8. The encoding method of claim 6, wherein the encoding method comprises: in step 3, the row number and column number of the selected region are calculated by the following formula:

I_r÷S_a＝α′...β′

if β ═ 0, then the number selected is I_rIs the alpha' th line S_aThe area where the column is located;

if β' ≠ 0, then the selected number is I_rIs the area where the (α '+ 1) th row and the β' th column are located.

9. The encoding method of claim 6, wherein the encoding method comprises: in the step 4, the process is carried out,

if r is equal to S, then I_rI in number area_rInitial code number z of number coded planar target_r＝z_S；

Wherein: delta_rIs a positive integer, and Δ_rNot less than 1, represents I_rNumber coded planar target and I_r+1Number code plane target code sequence number interval.

10. A computer-readable storage medium comprising a computer program for use in conjunction with an electronic device having image processing capabilities, the computer program being executable by a processor to perform the encoding method of claim 6.